Target corner determination method and device, electronic equipment and readable storage medium

Abstract

The embodiment of the invention provides a target turning angle determining method and device, electronic equipment and a readable storage medium. The method comprises the steps that the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio of a vehicle in the current state are obtained; according to the angle of the steering motor encoder, the speed ratio of the steering mechanism and the speed ratio of the steering motor, an initial calculation rotation angle of the steering mechanism is determined; acquiring a rotation angle of a rotation angle sensor; according to the initial calculation rotation angle of the steering mechanism and the rotation angle of the rotation angle sensor, a centering position correction rotation angle of the steering mechanism is determined; and determining a target rotation angle of the steering mechanism according to the initial calculation rotation angle of the steering mechanism and the centering position correction rotation angle of the steering mechanism. According to the method for determining the target turning angle, the calculated turning angle of the steering mechanism is subjected to centering position correction, so that the calculated target turning angle of the steering mechanism is more accurate, and the control precision of the steering mechanism is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, electronic device and readable storage medium for determining a target turning angle. Background Art

[0002] In the process of wire-controlled steering of vehicles in the prior art, the target angle of the steering mechanism is mainly determined by the angle of the angle sensor. The angle of the steering mechanism is directly determined by the angle of the angle sensor. This method of obtaining the angle of the steering mechanism is fast and direct, but has the problem of low accuracy.

[0003] Therefore, it is necessary to provide a method for determining the steering angle of a steering mechanism to improve the accuracy of the steering angle determination, thereby ensuring the vehicle control accuracy. Summary of the invention

[0004] The present application provides a method, device, electronic device and readable storage medium for determining a target turning angle to solve the above-mentioned technical problems.

[0005] According to a first aspect of the present application, a method for determining a target turning angle is provided, which is applied to a steering controller, and the method comprises:

[0006] Obtain the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio of the vehicle in the current state;

[0007] Determining an initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio;

[0008] Get the rotation angle of the rotation angle sensor;

[0009] Determining a centering position correction angle of the steering mechanism according to an initial calculated angle of the steering mechanism and an angle of the angle sensor;

[0010] A target angle of the steering mechanism is determined according to an initial calculated angle of the steering mechanism and a centering position correction angle of the steering mechanism.

[0011] In some embodiments, determining the initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio comprises:

[0012] Determine the motor rotation angle according to the steering motor encoder angle;

[0013] The initial calculated angle of the steering mechanism is determined by the following formula:

[0014] The initial calculated angle of the steering mechanism = motor angle ÷ steering mechanism speed ratio ÷ steering motor speed ratio.

[0015] In some embodiments, determining the centering position correction angle of the steering mechanism according to the initial calculated angle of the steering mechanism and the angle of the angle sensor includes:

[0016] The centering position correction angle of the steering mechanism = the angle sensor angle - the initial calculated angle of the steering mechanism.

[0017] In some embodiments, determining the target angle of the steering mechanism according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism includes:

[0018] The target angle of the steering mechanism = the initial calculated angle of the steering mechanism + the centering position correction angle of the steering mechanism.

[0019] In some embodiments, the method further comprises:

[0020] determining whether to perform a centering position correction on an initially calculated turning angle of the steering mechanism;

[0021] If so, outputting a target angle of the steering mechanism determined according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism;

[0022] If not, output the rotation angle of the rotation angle sensor.

[0023] In some embodiments, the method further comprises:

[0024] When at least one of the two steering controllers is abnormal, the target angle of the steering mechanism is backed up and stored.

[0025] According to a second aspect of the present application, a device for determining a target turning angle is provided, which is applied to a steering controller, comprising:

[0026] A data acquisition module, used to obtain the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio of the vehicle in the current state;

[0027] An initial calculation module, used to determine an initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio;

[0028] A sensor angle acquisition module is used to acquire the angle of the angle sensor;

[0029] a correction angle calculation module, used to determine a centering position correction angle of the steering mechanism according to an initial calculated angle of the steering mechanism and an angle of the angle sensor; and

[0030] The correction module is used to determine the target angle of the steering motor according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism.

[0031] According to a third aspect of the present application, a vehicle is provided, comprising a device for determining a target turning angle as described in any embodiment of the present application.

[0032] According to the fourth aspect of the present application, an electronic device is provided, comprising: a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the above-mentioned method for determining the target turning angle.

[0033] According to a fifth aspect of the present application, a computer-readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method for determining the target turning angle are implemented.

[0034] In summary, the target angle determination method, device, electronic device, and readable storage medium provided by the present application have at least the following beneficial effects:

[0035] The present application can determine the initial calculated angle of the steering mechanism based on the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio acquired in the current state of the vehicle; then determine the centering position correction angle of the steering mechanism through the acquired angle sensor angle and the initial calculated angle of the steering mechanism; finally, determine the target angle of the steering mechanism based on the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism. The target angle determination method of the present application can perform centering position correction on the calculated steering structure angle based on the angle sensor angle, so that the calculated target angle of the steering mechanism is more accurate, thereby further ensuring the control accuracy of the steering mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A flow chart of a method for determining a target turning angle provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of an execution method of a target angle determination method provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the application structure of a method for determining a target turning angle provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of the structure of a device for determining a target turning angle provided in an embodiment of the present application;

[0041] Figure 5 The figure is a schematic diagram of the structure of an electronic device. DETAILED DESCRIPTION

[0042] In order to make the above and other features and advantages of the present application more clear, the present application is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0043] In the following description, many specific details are set forth to provide a thorough understanding of the present application. However, it is apparent to those skilled in the art that specific details need not be adopted to practice the present application. In other cases, well-known steps or operations are not described in detail to avoid blurring the present application.

[0044] The method for determining the target turning angle provided in the embodiment of the present application is applied to a steering controller and can be executed by the device for determining the target turning angle provided in the embodiment of the present application, which can be configured in an electronic device.

[0045] The present application provides a method for determining a target turning angle, which is applied to a steering controller. Figure 1 As shown, it is a flow chart of a method for determining a target turning angle provided in an embodiment of the present application, and the method includes steps 110-150.

[0046] Step 110, obtaining the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio in the current state of the vehicle.

[0047] Among them, the steering motor of the present application can also be understood as a steering execution motor, and the steering mechanism of the present application can be a steering control mechanism. The steering control mechanism can be composed of a steering wheel, a steering shaft, a steering column, etc. The steering mechanism can transmit the control force of turning the steering wheel to the steering motor.

[0048] In addition, the speed ratio in this application, also called the transmission ratio, refers to the ratio of the angular velocities of two rotating components in a mechanism.

[0049] Step 120: determining an initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio.

[0050] In some embodiments, determining the initial calculated angle of the steering mechanism based on the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio includes: determining the motor angle based on the steering motor encoder angle; determining the initial calculated angle of the steering mechanism by the following formula: initial calculated angle of steering mechanism = motor angle ÷ steering mechanism speed ratio ÷ steering motor speed ratio.

[0051] For example, see Attachment Figure 2 As shown, the motor angle (that is, the motor electrical angle) can be determined based on the steering motor encoder angle and the number of encoder teeth obtained by rotating the encoder one circle. Then, the initial calculated angle of the steering mechanism is determined based on the motor angle, the steering mechanism speed ratio, and the steering motor speed ratio. Specifically, the motor angle is divided by the steering mechanism speed ratio (axle angle multiple) to obtain the current steering motor rotor mechanical angle, and then the steering motor rotor mechanical angle is divided by the steering motor speed ratio to obtain the initial calculated angle of the steering mechanism (that is, the angle of the steering mechanism bevel gear).

[0052] Step 130, obtaining the rotation angle of the rotation angle sensor.

[0053] The present application can obtain the rotation angle of the rotation angle sensor based on the CAN (Controller Area Network) communication method between the rotation angle sensor and the rotation angle sensor.

[0054] Step 140: determining a centering position correction angle of the steering mechanism according to the initial calculated angle of the steering mechanism and the angle of the angle sensor.

[0055] In some embodiments, determining the centering position correction angle of the steering mechanism based on the initial calculated angle of the steering mechanism and the angle sensor angle includes: centering position correction angle of the steering mechanism = angle sensor angle - initial calculated angle of the steering mechanism.

[0056] Step 150: determining a target angle of the steering mechanism according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism.

[0057] In some embodiments, determining the target angle of the steering mechanism based on the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism includes: target angle of the steering mechanism = initial calculated angle of the steering mechanism + centering position correction angle of the steering mechanism.

[0058] When outputting the steering angle of the steering mechanism, the embodiment of the present application first determines whether to perform a centering position correction on the initial calculated steering angle of the steering mechanism; if so, outputs the target steering angle of the steering mechanism determined based on the initial calculated steering angle of the steering mechanism and the centering position correction angle of the steering mechanism; if not, outputs the angle sensor angle.

[0059] In some embodiments, the method for determining whether to perform a centering position correction on the initial calculated angle of the steering mechanism includes: when the vehicle is started and the steering wheel speed is lower than a specified threshold, determining whether there is an angle difference between the wheel angle and the steering wheel angle, that is, determining whether there is a difference between the initial calculated angle of the steering mechanism and the angle of the angle sensor, if there is a difference, determining that a centering position correction needs to be performed, otherwise, no centering position correction is required. If a centering position correction needs to be performed, then the target angle of the steering mechanism determined according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism in the calculation process of the present application is outputted subsequently. If a centering position correction does not need to be performed, the angle of the angle sensor can be directly outputted.

[0060] The present application can determine the initial calculated angle of the steering mechanism based on the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio acquired in the current state of the vehicle; then determine the centering position correction angle of the steering mechanism through the acquired angle sensor angle and the initial calculated angle of the steering mechanism; finally, determine the target angle of the steering mechanism based on the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism. The target angle determination method of the present application can perform centering position correction on the calculated steering structure angle based on the angle sensor angle, so that the calculated target angle of the steering mechanism is more accurate, thereby further ensuring the control accuracy of the steering mechanism.

[0061] See attached Figure 3 As shown, it is a schematic diagram of the application structure of the method for determining the target turning angle of the present application. The present application adopts a fully backed-up dual-controller solution. The steering execution system of the present application includes: a steering wheel, a turning angle sensor, a steering controller 1, a steering controller 2, a steering motor driver 1, a steering motor driver 2 and a steering motor. Based on this, the present application can achieve independent control of a dual-path redundant control system by adopting a dual-path redundant control system.

[0062] Among them, the angle sensor uses CAN communication to send the angle signal to two steering controllers, namely Figure 3 In the steering controller 1 and steering controller 2, the angle sensor has a centering calibration function to ensure the centering 0 angle and eliminate installation errors.

[0063] Each steering controller can independently calculate and obtain the target angle of the steering mechanism respectively, and at the same time, the two controllers can receive the target angle of the steering mechanism calculated by each other.

[0064] When the target angles of the steering mechanism calculated by the steering controller 1 and the steering controller 2 are consistent, any calculation result can be output; when one of the calculations is abnormal or both calculations are abnormal, a backup mode or a protection mode is entered. The backup mode or the protection mode is to back up and store the target angle of the steering mechanism obtained by calculation.

[0065] The steering motor drive corresponds to the steering controller, so the present application can be composed of two independent steering motor drives, each of which calculates the motor angle and sends it to the steering controller via CAN. At the same time, the torque command of the steering controller can also be received through CAN communication, which is then converted into the target current to drive the steering motor to work.

[0066] The drive motor of the present application adopts a 6-phase motor, which is composed of two groups of three-phase coils. The two sets of electronic control systems are independent of each other in terms of electricity and control, and are controlled in a coordinated manner.

[0067] The above-mentioned implementation mode of the present application designs a dual-controller solution, thereby realizing independent backup of the electric control system, independent collection of sensor signals of each electric control system, and mutual verification, so that the control signal is more effective and accurate.

[0068] The present application also provides a device for determining a target turning angle, which is applied to a steering controller. Figure 4 As shown, the target angle determination system of the present application includes: a data acquisition module 410, an initial calculation module 420, a sensor angle acquisition module 430, a correction angle calculation module 440, and a correction module 450.

[0069] Among them, the data acquisition module 410 is used to obtain the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio in the current state of the vehicle. The initial calculation module 420 is used to determine the initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio. The sensor angle acquisition module 430 is used to obtain the angle of the angle sensor; the correction angle calculation module 440 is used to obtain the angle of the angle sensor, and determine the centering position correction angle of the steering mechanism according to the initial calculated angle of the steering mechanism and the angle of the angle sensor. And the correction module 450 is used to determine the target angle of the steering motor according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism.

[0070] It should be understood that the specific features, operations and details described hereinabove with respect to the method of the present application may also be similarly applied to the device of the present application, or vice versa. In addition, each step of the method of the present application described above may be performed by the corresponding components or units of the device of the present application.

[0071] like Figure 5 As shown, the present application provides an electronic device 500, which includes a processor 510 and a memory 520 storing computer program instructions. When the processor 510 executes the computer program instructions, each step of the method for determining the target turning angle described above is implemented. The electronic device 500 can be generally a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities.

[0072] In one embodiment, the electronic device 500 may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the electronic device 500 may be used to provide necessary computing, processing and / or control capabilities. The memory of the electronic device 500 may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may store an operating system, a computer program, etc. The internal memory may provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the electronic device 500 may be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present application are executed.

[0073] The present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned method for determining a target turning angle is implemented.

[0074] It will be appreciated by those skilled in the art that the method steps of the present application can be completed by instructing related hardware such as electronic device 500 or processor through a computer program, and the computer program can be stored in a non-temporary computer-readable storage medium, which causes the steps of the present application to be executed when the computer program is executed. Depending on the circumstances, any reference to memory, storage or other media herein may include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc. It should be understood that the specific features, operations and details described hereinabove about the method of the present application may also be similarly applied to the device and system of the present application, or vice versa. In addition, each step of the method of the present application described above may be performed by the corresponding component or unit of the device or system of the present application.

[0075] It should be understood that each module / unit of the system of the present application can be implemented in whole or in part by software, hardware, firmware or a combination thereof. Each module / unit can be embedded in the processor of the electronic device or independent of the processor in the form of hardware or firmware, or can be stored in the memory of the electronic device in the form of software for the processor to call to perform the operation of each module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0076] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining a target turning angle, applied to a steering controller, characterized in that: The method comprises: Obtain the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio of the vehicle in the current state; Determining an initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio; Get the rotation angle of the rotation angle sensor; Determining a centering position correction angle of the steering mechanism according to an initial calculated angle of the steering mechanism and an angle of the angle sensor; A target angle of the steering mechanism is determined according to an initial calculated angle of the steering mechanism and a centering position correction angle of the steering mechanism.

2. The method according to claim 1, characterized in that The step of determining an initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio comprises: Determine the motor rotation angle according to the steering motor encoder angle; The initial calculated angle of the steering mechanism is determined by the following formula: The initial calculated angle of the steering mechanism = motor angle ÷ steering mechanism speed ratio ÷ steering motor speed ratio.

3. The method according to claim 1, characterized in that The method of determining the centering position correction angle of the steering mechanism according to the initial calculated angle of the steering mechanism and the angle of the angle sensor comprises: The centering position correction angle of the steering mechanism = the angle sensor angle - the initial calculated angle of the steering mechanism.

4. The method according to claim 1 or 3, characterized in that: The step of determining a target angle of the steering mechanism according to an initial calculated angle of the steering mechanism and a centering position correction angle of the steering mechanism comprises: The target angle of the steering mechanism = the initial calculated angle of the steering mechanism + the centering position correction angle of the steering mechanism.

5. The method according to claim 1, characterized in that The method further comprises: determining whether to perform a centering position correction on an initially calculated turning angle of the steering mechanism; If so, outputting a target angle of the steering mechanism determined according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism; If not, output the rotation angle of the rotation angle sensor.

6. The method according to claim 1, characterized in that The method further comprises: When at least one of the two steering controllers is abnormal, the target angle of the steering mechanism is backed up and stored.

7. A device for determining a target turning angle, applied to a steering controller, characterized in that: include: A data acquisition module, used to obtain the steering motor encoder angle, steering mechanism speed ratio and steering motor speed ratio of the vehicle in the current state; An initial calculation module, used to determine an initial calculated angle of the steering mechanism according to the steering motor encoder angle, the steering mechanism speed ratio and the steering motor speed ratio; A sensor angle acquisition module is used to acquire the angle of the angle sensor; A correction angle calculation module, used to determine a centering position correction angle of the steering mechanism according to an initial calculated angle of the steering mechanism and an angle of the angle sensor; as well as The correction module is used to determine the target angle of the steering motor according to the initial calculated angle of the steering mechanism and the centering position correction angle of the steering mechanism.

8. A vehicle, characterized in that: Includes the target angle determination device as described in claim 7.

9. An electronic device, characterized in that: include: A processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method for determining a target turning angle as described in any one of claims 1 to 6.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the method for determining the target turning angle as described in any one of claims 1-6 are implemented.

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